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fcl::details Namespace Reference

for OBB and RSS, there is local coordinate of BV, so normal need to be transformed More...

Classes

struct  MinkowskiDiff
 Minkowski difference class of two shapes. More...
 
struct  GJK
 class for GJK algorithm More...
 
struct  EPA
 class for EPA algorithm More...
 

Functions

Vec3f getSupport (const ShapeBase *shape, const Vec3f &dir)
 the support function for shape More...
 
template<typename BV >
const Matrix3fgetBVAxes (const BV &bv)
 
template<>
const Matrix3fgetBVAxes< OBBRSS > (const OBBRSS &bv)
 
template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool setupShapeMeshDistanceOrientedNode (OrientedNode< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result)
 

Variables

static const size_t EPA_MAX_FACES = 128
 
static const size_t EPA_MAX_VERTICES = 64
 
static const FCL_REAL EPA_EPS = 0.000001
 
static const size_t EPA_MAX_ITERATIONS = 255
 

Detailed Description

for OBB and RSS, there is local coordinate of BV, so normal need to be transformed

Function Documentation

template<typename BV >
const Matrix3f& fcl::details::getBVAxes ( const BV &  bv)
inline
template<>
const Matrix3f& fcl::details::getBVAxes< OBBRSS > ( const OBBRSS &  bv)
inline
Vec3f fcl::details::getSupport ( const ShapeBase *  shape,
const Vec3f &  dir 
)

the support function for shape

Referenced by fcl::details::MinkowskiDiff::support0(), and fcl::details::MinkowskiDiff::support1().

template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode>
static bool fcl::details::setupShapeMeshDistanceOrientedNode ( OrientedNode< S, NarrowPhaseSolver > &  node,
const S &  model1,
const Transform3f &  tf1,
const BVHModel< BV > &  model2,
const Transform3f &  tf2,
const NarrowPhaseSolver *  nsolver,
const DistanceRequest &  request,
DistanceResult &  result 
)
inlinestatic

Variable Documentation

const FCL_REAL fcl::details::EPA_EPS = 0.000001
static
const size_t fcl::details::EPA_MAX_FACES = 128
static
const size_t fcl::details::EPA_MAX_ITERATIONS = 255
static
const size_t fcl::details::EPA_MAX_VERTICES = 64
static